Research And Design Of AUV Cable Patrol System Based On Magnetic Sensor

With the rapid development of the development of marine resources,the application of submarine cable technology has become more and more extensive.As an important part of cross sea Internet of things project,submarine cable plays an irreplaceable role in cross sea communication such as cross-sea communication,power transmission,and new marine energy development.However,due to the influence of natural and human factors,the submarine cable will inevitably be damaged to a certain extent,and a series of safety problems will arise.Due to the complicated structure of the submarine cable itself and the harsh operating environment,the maintenance of the submarine cable is extremely difficult.Therefore,it is of practical significance to design an AUV that can realize the autonomous inspection and breakpoint detection of the submarine cable,for example,during the inspection process,determine whether it is a submarine cable breakpoint according to the attenuation model of the fault point,or observe the details of the submarine cable based on the optical original,etc.In view of the current difficult situation of submarine cable inspection and maintenance,this subject is based on the dual-propeller vector propulsion of the submarine cable inspection autonomous underwater vehicle platform,research on cable-finding system design and autonomous submarine cable inspection algorithm.This subject mainly studies the submarine cable inspection program based on three-component fluxgate sensors.The program study the relationship with the AUV relative to the submarine cable orientation by establishing a submarine cable magnetic field model,its purpose is to accurately control the AUV to track the submarine cable forward.The system obtains the magnetic field changes around the submarine cable through the fluxgate,uses Fourier transform to obtain the threecomponent magnetic signal spectrogram,and calculates the position of the AUV relative to the submarine cable,so as to realize the attitude adjustment of the AUV and the submarine cable tracking.The AUV cable-seeking system consists of a bottom control system and a top control system.The bottom control system is responsible for data acquisition and vector control,and the top control system is responsible for magnetic signal analysis and attitude decision-making.After many laboratory simulation tests and water tank navigation tests,the results show that it is feasible to use the three-component magnetic signal to calculate the AUV's position relative to the submarine cable and control the AUV to track the submarine cable forward,and achieved satisfactory results.The simulated submarine cable inspection test verifies the correctness of the cable finding algorithm.The AUV can realize the autonomous tracking of the submarine cable according to the change of the magnetic field signal around the submarine cable.